为了实现对失稳、快旋空间非合作目标运动状态的测量, 提出一种基于单目相机序列图像的测量方法。根据目标与探测器的投影几何关系, 推导和证明了测量方法的可行性。根据空间光照环境的特点, 给出一种基于MSER特征的图像处理方法, 用于稳定提取目标在图像中的投影角。根据获得的多帧序列投影角值, 通过设定合理的多项式拟合模型, 计算非合作目标的自旋速率。最后通过在轨图像数据, 进一步验证了方法的有效性和测量精度。实验结果表明: 对于某60°/s的快旋非合作目标, 用1 Hz帧频的单目相机观测150 s, 该方法对目标的测量均值为6007°, 测量标准偏差为0.05°/s, 实现了稳定可靠、高精度的空间非合作目标运动状态测量。

In order to measure the motion state of the unstable and fast-swirl non-cooperative target, a measurement method based on sequence images of monocular camera was proposed. First, the measurement principle was derived and proved according to the projection geometry of the target and the detector. Then, considering the characteristics of the space lighting environment, an image processing method based on maximally stable extremal regions(MSER) features was proposed to extract the projection angle. Moreover, according to the multi-frame sequence projection angle value, the spin rate of the non-cooperative target was calculated by setting a reasonable polynomial fitting model. Finally, the effectiveness and measurement accuracy of the proposed method were further verified by on-orbit data. Experimental results show that, for the 60°/s fast-spinning non-cooperative target, a monocular camera with 1Hz frame rate is used to observe the target in 150 seconds, the mean measured value by this method is 60.07° and the standard deviation is 0.05°/s. Therefore, a stable, reliable and highly precision spatial non-cooperative target motion state measurement is achieved.